JPH0923689A - Step-out automatic resetting apparatus of surface motor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reset the angle between the projecting pole of a platen and a magnetic pole of moving section and pitch to the normal value by moving a correcting bar in parallel to the reference axis in the direction of the reference axis to pull the moving section. SOLUTION: A linear actuator 5 is operated with a signal of a step-out detecting apparatus to move a correction bar 6 in the direction of the reference axis by while keeping this bar parallel to the Y axis. The moving part 2 is pressed toward the correction bar 5 to move and collides with a stopper 3 parallel to the reference axis y. Simultaneously, an X axis limit switch 7 operates to stop the linear actuator 5. The moving part 2 becomes parallel to the reference axis y and therefore the step-out condition in the X axis direction can be eliminated. In regard to the direction of Y axis, the pitch of any projected pole and magnetic pole is almost in the normal condition. Therefore, when the command to move toward the origin O on the reference axis y is given to the moving part 2 and the moving part 2 reaches the origin O, the limit switch 8 operates to stop the moving part 2. Since the moving part is moved up to the origin O as explained above, the normal condition can surely be reset.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for automatically recovering step-out of a moving part of a surface motor which is a pulse motor.

[0002]

2. Description of the Related Art Conventionally, a plate-like platen portion having convex poles in a grid pattern and two axis directions (X-axis, Y-axis) orthogonal to each other are used.
It is disclosed that a shaft is provided with a grid-like magnetic pole that generates a moving magnetic field in response to a pulse or sine wave current command, and a moving unit that can move on the platen unit (for example, actual opening). 56-120789). Since the surface motor composed of such a pulse motor is open loop control, when a thrust force exceeding the performance is commanded or when it collides with another object, the moving part tilts with respect to the two orthogonal axes, and the platen part of the platen part moves. Since the pitch of the convex pole and the magnetic pole of the moving part is out of order, the user loses synchronism and falls into a state where he cannot move. In that case, the position of the moving part is manually corrected to return to the position where step out occurs.

[0003]

However, in the above-mentioned prior art, since the position of the moving part is manually corrected after the moving part is out of step, it is dangerous and the restored position is not out of position. It is necessary to confirm whether or not it is, and there is a problem that it takes a lot of time manually. It is an object of the present invention to provide an automatic step-out restoring device for a surface motor, which can automatically return to a normal state when a moving part goes out of step.

[0004]

In order to solve the above problems, the present invention is directed to a flat platen platen having convex poles in a grid pattern and a pulse or sine wave current command in each axial direction of orthogonal coordinate axes. In a step-out automatic resetting device for a surface motor, which is provided with a grid-like magnetic pole that generates a moving magnetic field according to the above, and a moving part that can move on the platen part, one of the orthogonal coordinate axes. A linear bar that is supported in parallel with each other, a stopper that is provided along a reference axis that is parallel to the one coordinate axis, and a linear actuator that can translate the straightening bar in the direction of the reference axis. Is a step out state, the moving portion is moved by the correction bar.

[0005]

With the above-mentioned means, when the moving portion is out of step, the straightening bar parallel to the reference axis is moved in the direction of the reference axis to draw the moving portion.
By moving the straightening bar and pressing the moving part against the stopper along the reference axis, the grid-shaped convex pole of the platen part and the grid-shaped magnetic pole of the moving part can be removed from the step-out state of the platen part and the moving part. It is possible to return to a normal state in which the angle and pitch with and match.

[0006]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. FIG. 1 is a perspective view showing a first embodiment of the present invention. In the figure, 1 is a plate-shaped platen portion provided with convex poles 11 in a grid pattern, 2 is a grid-like magnetic pole 21 for generating a moving magnetic field in accordance with a pulse or sine wave current command in orthogonal X and Y2 directions. (X-direction magnetic pole 21X, Y-direction magnetic pole 21Y)
Is a moving unit that can move on the platen unit 1. In the normal state, as shown in FIGS. 2A and 2B, the pitch between the convex poles 11 of the platen portion 1 and the magnetic poles 21 of the moving portion 2 is shifted by ½ pitch from the completely matched portion. And a part deviated to the ¼ pitch + side and − side. 3 is a stopper provided along a reference axis x parallel to the Y axis, passing through the reference points X ₀ and Y ₀ set at one end of the platen portion 1, 4 is a reference point X ₀ and Y ₀ , A guide 5 provided along a reference axis y parallel to the X axis is a linear actuator that can move in a direction parallel to the guide 4, and a motor 5
1 includes a screw 52 that is driven to rotate, and a nut portion 53 that meshes with the screw 52 and is movable in the longitudinal direction of the screw 52. 6 is arranged parallel to the Y axis, one end is slidably guided by the guide 4, and the other end is a straightening bar fixed to the nut portion 53 of the linear actuator 5, usually from the reference axis y. It is placed at a position separated in the X-axis direction. Reference numeral 7 denotes an X-axis limit switch that can be engaged with the straightening bar 6, and operates when the moving portion 2 reaches the reference axis y when pushed by the straightening bar 6 to stop the linear actuator 5. Reference numeral 8 denotes a Y-axis limit switch, which operates when the moving unit 2 reaches an origin O on the end opposite to the reference points X ₀ and Y ₀ on the reference axis y, and issues a stop command to stop the moving unit 2. I'm trying to put it out.

Now, when the moving part 2 receives an abnormal force for some reason and tilts with respect to the X and Y axis directions as shown in FIGS. The linear actuator 5 receives a signal from a step-out detection device (not shown).
Is operated to move the straightening bar 6 in the direction of the reference axis y while maintaining the state parallel to the Y axis. Then, the moving unit 2 is pressed against the straightening bar 6 to move, hits the stopper 3 parallel to the reference axis y, and the X-axis limit switch 7 operates to stop the linear actuator 5. In this state, as shown in FIG. 3, since the moving unit 2 is parallel to the reference axis y, there is no tilt in the X and Y axis directions, and
The step-out state in the axial direction disappears. Regarding the Y-axis direction, it is either a portion where the pitches of the convex poles and the magnetic poles are completely matched, a portion where the pitch is shifted by ½ pitch, or a portion where the pitch is shifted to the + side and − side by the ¼ pitch. In this state, since it is close to the normal state, the origin O on the reference axis y
When a command to move in the direction of is given, it moves to the origin O. When the moving unit 2 reaches the origin O, the limit switch 8
Operates to stop the moving unit 2. In this way, when the moving part is in the step-out state, the moving part 2 is pressed to the reference axis y by the straightening bar 6 that moves in parallel, and further moved to the origin O, so that the step-out condition is surely changed from the normal state. Can be returned to.

FIG. 4 is a perspective view showing a second embodiment, which is an embodiment in which two moving parts 2, 2'are provided on the platen part 1, and two X-axis limit switches 7, 7'and 2
The Y-axis limit switches 8 and 8'are provided. In this case, one X-axis limit switch 7 is provided at a position separated from the reference points X ₀ and Y ₀ of the X-axis by the length of the moving section 2 in the X-axis direction, and the other X-axis limit switch 7 ′ is the X-axis limit switch. Further, it is provided apart from the switch 7 in the X-axis direction by the length of the moving section 2 in the X-axis direction. Further, the Y-axis limit switch 8 is provided at a position where the moving section 2 reaches the origin O, and the Y-axis limit switch 8'is set by the moving section 2 at the reference point X.
It is provided at the position where ₀ and Y ₀ are reached. When two moving parts are provided on one platen part 1, when one or both of the two moving parts 2 are out of step, the straightening bar 6 is moved in parallel in the direction of the reference axis y. As shown in FIG. 3, one of the moving parts that hits the straightening bar first may press the other moving part, and the two moving parts 2 may overlap in the X-axis direction. At this time, the linear actuator 5 is operated to move the correction bar 6 and press both of them in the direction of the reference axis y. When the X-axis limit switch 7'is operated by the correction bar 6, the moving units 2 and 2'are instructed to move in opposite directions in the Y-axis direction. At this time, if the moving parts 2 and 2 ′ overlap in the X-axis direction, at least the moving part 2 of the two moving parts 2 and 2 ′ that is in contact with the stopper 3 is not tilted in the X and Y directions. Since the step-out condition in the X-axis direction has disappeared, the origin O
And moves the Y-axis limit switch 8 to stop. In this state, if the step-out state of the moving unit 2'is eliminated, the moving unit 2'moves in the normal state in the direction of the second origin O'of the Y axis. If the moving part 2'is still out of step,
Since the moving unit 2 moves in the direction of the origin O and the moving units 2 and 2'are separated from each other in the Y-axis direction, the straightening bar 6 can be moved again in the direction of the reference axis y by the linear actuator 5. The moving part 2 ′ is pressed against the stopper 3. Since the moving part 2 ′ is not tilted with respect to the X and Y directions and the step-out state in the X axis direction is gone, the moving part 2 ′ moves toward the reference points X ₀ and Y ₀ and operates the Y axis limit switch 8 ′. Let me stop. In this state, the two moving parts 2 and 2'return to the normal state from the step-out state.

FIG. 5 is a perspective view showing a third embodiment of the present invention. In the first and second embodiments, the linear actuator 5 is used.
Instead of the motor and the screw used in the above, the linear actuator 5'is configured by a linear pulse motor that moves in the X-axis direction, and the correction bar 6 is moved. In this case, the stator of the linear actuator 5'uses the end of the platen portion 1 of the surface motor, and the power source can be shared, so that the structure is simplified. The power supply for the linear actuator 5'is used to connect the input wiring (A phase, B phase) of the surface motor when the step out of the surface motor occurs.
Phase) should be switched to the input wiring of the linear actuator. FIG. 6 is a perspective view showing a fourth embodiment of the present invention. Like the third embodiment, the linear actuator 5'is constituted by a linear pulse motor, and the central portion of the straightening bar 6 is constituted by the linear actuator 5 '. It is designed to be supported. In this case, since the platen portion and the power source can be shared and a guide for guiding the straightening bar 6 is not required, the structure is further simplified. In addition, in the above embodiment, the example in which the straightening bar is maintained parallel to the Y axis and moved in the X axis direction has been described.
The straightening bar may be kept parallel to the X axis and moved in the Y axis direction.

[0010]

As described above, according to the present invention, when the moving portion is out of step, the straightening bar parallel to the reference axis is moved in the direction of the reference axis to draw the moving portion to the reference position. Since it is pressed against the stopper along the axis to restore the normal state, there is an effect that the moving portion can be automatically and accurately restored to the normal state without manual labor.

[Brief description of drawings]

FIG. 1 is a perspective view showing a first embodiment of the present invention.

FIG. 2 is an explanatory diagram showing the relationship between the convex poles of the platen portion and the magnetic pole portions of the moving portion according to the first embodiment of the present invention.

FIG. 3 is a perspective view showing a state during operation of the first embodiment of the present invention.

FIG. 4 is a perspective view showing a state during operation of the second embodiment of the present invention.

FIG. 5 is a perspective view showing a third embodiment of the present invention.

FIG. 6 is a perspective view showing a fourth embodiment of the present invention.

[Explanation of symbols]

1 platen part, 11 convex poles, 2 and 2'moving part, 21
Magnetic poles, 3 stoppers, 4 guides, 5 linear actuators, 51 motors, 52 screws, 53 nuts,
6 Straightening bar, 7, 7'X-axis limit switch, 8,
8'Y-axis limit switch,

Claims (3)

[Claims] 1. A plate-shaped platen portion having convex poles in a grid pattern, and a grid-shaped magnetic pole for generating a moving magnetic field in each axial direction of orthogonal coordinate axes in response to a pulse or sine wave current command. In a step-out automatic resetting device for a surface motor having a moving part capable of moving on the platen part, a straightening bar supported in parallel to any one of the orthogonal coordinate axes and the one coordinate axis. A stopper provided along parallel reference axes and a linear actuator capable of moving the straightening bar in parallel to the direction of the reference axis, and when the moving portion is out of step, the moving portion is moved by the straightening bar. An automatic step-out recovery device for a surface motor, which is characterized by being moved. 2. The surface motor according to claim 1, wherein the linear actuator includes a screw provided along a coordinate axis orthogonal to the one coordinate axis, a motor that drives the screw, and a nut portion that meshes with the screw. Step-out automatic recovery device. 3. The step-out automatic reset device for a surface motor according to claim 1, wherein the linear actuator comprises a linear step motor capable of moving on the platen portion.